By default, gcc generates software floating point, so for this
particular case no additional command line options are needed.

Using -mfloat-abi=softfp indeed creates binaries compatible with Debian
(soft-float) since the function calling convention uses standard
registers and stack for passing floating point arguments rather than VFP
registers.

The VFP (hard-float) instructions are not emulated by the kernel (only
the older FPA but they are no longer used by Debian armel), though much
of the support for emulation is already in there. Currently, the kernel
generates a SIGILL if such VFP instruction is encountered and the CPU
doesn't support it.

-- 
armel gcc default optimisations
https://bugs.launchpad.net/bugs/303232
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